Mechanism Design for Robotic Systems

Marco Ceccarelli is a professor of Mechanics of Machines at the University of Rome Tor Vergata, Italy, where he chairs LARM2: Laboratory of Robot Mechatronics. His research interests are in robot design, mechanism kinematics, experimental mechanics with special attention to parallel kinematics machines, service robotic devices, mechanism design, and history of machines and mechanisms. He is an ASME fellow. Professor Ceccarelli serves in several Journal editorial boards and conference scientific committees, and is editor of the Springer book series on Mechanism and Machine Science (MMS) and History of MMS. Professor Ceccarelli has been the President of IFToMM, the International Federation for the Promotion of MMS in 2008-11 and 2016-19. He has started several IFToMM sponsored conferences including (HMM) Symposium on History of Machines and Mechanisms, MEDER (Mechanism Design for Robotics) and MUSME (Multibody Systems and Mechatronics). Matteo Russo is an assistant professor at the University of Rome Tor Vergata, in Italy. His main research interests are continuum robots, mechanism design, robot kinematics, and parallel manipulators. He was a visiting researcher at RWTH Aachen University, Germany, at University of the Basque Country, Spain, and at Tokyo Institute of Technology, Japan, in 2015, 2016 and 2017, respectively. From 2019 to 2022, he has been a Research Fellow at the Rolls-Royce University Technology Centre in Manufacturing and On-Wing Technology, University of Nottingham, United Kingdom, where he worked on maintenance robotics for the aerospace and nuclear industry. His awards and honours include the IFToMM Young Delegate Program Award and several best paper awards at international conferences. He is a member of IEEE and IFToMM Italy.

1. Historical background 2. Fundamentals and requirements 3. Robot architectures 4. Industrial robots 5. Service robots 6. Medical devices 7. Future challenges 8. Conclusions